CN112975988A - Live working robot control system based on VR technique - Google Patents
Live working robot control system based on VR technique Download PDFInfo
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- CN112975988A CN112975988A CN202110396339.8A CN202110396339A CN112975988A CN 112975988 A CN112975988 A CN 112975988A CN 202110396339 A CN202110396339 A CN 202110396339A CN 112975988 A CN112975988 A CN 112975988A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a live working robot control system based on VR technology, which comprises a binocular vision module and a human-computer interaction module, wherein the binocular vision module is connected with a database module, the database module is connected with an analysis display module, the human-computer interaction module is connected with a task planning module, the task planning module is connected with a motion control module, and the motion control module is connected with a robot system. The invention solves the problems that the live working robot control system generally observes the field condition through video monitoring and controls the robot according to the video picture, the video picture cannot completely cover all details of the operation, the operation danger exists, an operator finishes the control of the robot by observing the video, the control process is complicated, and the precision cannot be ensured.
Description
Technical Field
The invention relates to the technical field of live working robots, in particular to a live working robot control system based on a VR (virtual reality) technology.
Background
In the prior art, the live working robot control system generally observes the field situation through video monitoring and controls the robot according to video pictures, the video pictures cannot completely cover all details of operation, operation danger exists, an operator finishes the control of the robot by observing videos, the control process is complicated, and the precision cannot be guaranteed.
Disclosure of Invention
The invention aims to solve the problems that a live working robot control system generally observes the field condition through video monitoring and controls and operates a robot according to a video picture, the video picture cannot completely cover all details of operation, operation danger exists, an operator finishes the control of the robot by observing the video, the control process is complicated, and the precision cannot be guaranteed.
In order to achieve the purpose, the invention adopts the following technical scheme: a live working robot control system based on VR technology comprises a binocular vision module and a human-computer interaction module, wherein the binocular vision module is connected with a database module, the database module is connected with an analysis display module, the human-computer interaction module is connected with a mission planning module, the mission planning module is connected with a motion control module, and the motion control module is connected with a robot system;
the database module comprises a virtual operation environment database, an operation task database and a virtual robot database, wherein the virtual operation environment database is respectively connected with the binocular vision module and the task planning module, the virtual robot database is respectively connected with the motion control module and the task planning module, and the operation task database is connected with the task planning module;
the task planning module comprises an operation task module, the operation task module is connected with a control algorithm module, and the control algorithm module is connected with a motion track generation module;
the motion control module comprises a left mechanical arm controller, a right mechanical arm controller, an operation platform controller and a moving vehicle body controller.
Preferably, the binocular vision module acquires images through a binocular camera, identifies the operation positions through edge extraction and image matching, and finally calculates the coordinate information of the operation positions and sends the coordinate information to the task planning module.
Preferably, the human-computer interaction module can provide a window, a virtual reality scene and various control menus for monitoring the robot system, and the human-computer interaction module sends the task instruction to the task planning module.
Preferably, the virtual work environment database stores model data of a work object and a work scene; the virtual robot database is used for storing three-dimensional model data, connection parameters and robot working states of all connection parts of the robot; the task database stores a plurality of task specification files, and task instructions in the task specification files are described by a plurality of movement commands of the robot.
Preferably, the analysis display module calls a secondary development function of the virtual reality platform by using C + + software programming to display a work object image in the work environment database and a robot part connection diagram in the robot database for a virtual reality platform scene.
Preferably, the task planning module receives the task instruction, searches and accesses the relevant data from the job task database, and then sends the generated command to the corresponding module for execution.
Preferably, when the motion control module receives the motion command and the trajectory table, the inverse kinematics equation and the jacobian are solved through the robot, the angular rotation degree and the corresponding angular velocity of each joint are calculated, the information of the angular rotation angle and the angular velocity of each joint is sent to the mechanical arm driving program, and the information is updated in the robot database.
Compared with the prior art, the invention has the following beneficial effects: the method comprises the steps that a binocular vision module acquires images through a binocular camera, identifies operation positions through edge extraction and image matching, and finally calculates the coordinate information of the operation positions to be sent to a task planning module, a human-computer interaction module can provide a window, a virtual reality scene and various control menus of a monitoring robot system, sends task instructions to the task planning module, and a virtual working environment database stores model data of working objects and working scenes; the virtual robot database is used for storing three-dimensional model data, connection parameters and robot working states of all connection parts of the robot; the task planning module receives the task instruction, searches and accesses related data from the task database, then sends the generated command to a corresponding module for execution, when the motion control module receives the motion command and the trajectory table, the robot solves an inverse kinematics equation and a Jacobian column to calculate the angular rotation degree and the corresponding angular velocity of each joint through the robot, and sends the information of the angular rotation angle and the angular velocity of each joint to the mechanical arm driving program, and updates this information in the robot database.
Drawings
The invention is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is a schematic view of the present invention in its entirety;
FIG. 2 is a schematic diagram of a mission planning module of the present invention;
FIG. 3 is a schematic diagram of a motion control module of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 3. It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The invention provides a technical scheme that: a live working robot control system based on VR technology comprises a binocular vision module and a human-computer interaction module, wherein the binocular vision module is connected with a database module, the database module is connected with an analysis display module, the human-computer interaction module is connected with a mission planning module, the mission planning module is connected with a motion control module, and the motion control module is connected with a robot system;
the database module comprises a virtual operation environment database, an operation task database and a virtual robot database, wherein the virtual operation environment database is respectively connected with the binocular vision module and the task planning module, the virtual robot database is respectively connected with the motion control module and the task planning module, and the operation task database is connected with the task planning module;
the task planning module comprises an operation task module, the operation task module is connected with a control algorithm module, and the control algorithm module is connected with a motion track generation module;
the motion control module comprises a left mechanical arm controller, a right mechanical arm controller, an operation platform controller and a moving vehicle body controller.
The binocular vision module acquires images through a binocular camera, identifies operation positions through edge extraction and image matching, and finally calculates coordinate information of the operation positions and sends the coordinate information to the task planning module.
The human-computer interaction module can provide a window, a virtual reality scene and various control menus of the monitoring robot system, and sends task instructions to the task planning module.
The virtual operation environment database stores model data of operation objects and operation scenes; the virtual robot database is used for storing three-dimensional model data, connection parameters and robot working states of all connection parts of the robot; the task database stores a plurality of task specification files, and task instructions in the task specification files are described by a plurality of movement commands of the robot.
The analysis display module calls a secondary development function of the virtual reality platform by using C + + software programming to display a work object image in a work environment database and a connection diagram of each part of the robot in the robot database on a virtual reality platform scene.
And the task planning module receives the task instruction, searches and accesses the related data from the job task database, and then sends the generated command to the corresponding module for execution.
When the motion control module receives a motion command and a track table, the inverse kinematics equation and the Jacobian determinant are solved through the robot, the angular rotation degree and the corresponding angular speed of each joint are calculated, the information of the angular rotation angle and the angular speed of each joint is sent to a mechanical arm driving program, and the information is updated in a robot database.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (7)
1. The utility model provides an electrified operation robot control system based on VR technique, including binocular vision module and human-computer interaction module, its characterized in that: the binocular vision module is connected with a database module, the database module is connected with an analysis display module, the human-computer interaction module is connected with a task planning module, the task planning module is connected with a motion control module, and the motion control module is connected with a robot system;
the database module comprises a virtual operation environment database, an operation task database and a virtual robot database, wherein the virtual operation environment database is respectively connected with the binocular vision module and the task planning module, the virtual robot database is respectively connected with the motion control module and the task planning module, and the operation task database is connected with the task planning module;
the task planning module comprises an operation task module, the operation task module is connected with a control algorithm module, and the control algorithm module is connected with a motion track generation module;
the motion control module comprises a left mechanical arm controller, a right mechanical arm controller, an operation platform controller and a moving vehicle body controller.
2. The VR technology based control system of an electric working robot of claim 1, wherein: the binocular vision module acquires images through a binocular camera, identifies operation positions through edge extraction and image matching, and finally calculates coordinate information of the operation positions and sends the coordinate information to the task planning module.
3. The VR technology based control system of an electric working robot of claim 1, wherein: the human-computer interaction module can provide a window, a virtual reality scene and various control menus of the monitoring robot system, and sends task instructions to the task planning module.
4. The VR technology based control system of an electric working robot of claim 1, wherein: the virtual operation environment database stores model data of operation objects and operation scenes; the virtual robot database is used for storing three-dimensional model data, connection parameters and robot working states of all connection parts of the robot; the task database stores a plurality of task specification files, and task instructions in the task specification files are described by a plurality of movement commands of the robot.
5. The VR technology based control system of an electric working robot of claim 1, wherein: the analysis display module calls a secondary development function of the virtual reality platform by using C + + software programming to display a work object image in a work environment database and a connection diagram of each part of the robot in the robot database on a virtual reality platform scene.
6. The VR technology based control system of an electric working robot of claim 1, wherein: and the task planning module receives the task instruction, searches and accesses the related data from the job task database, and then sends the generated command to the corresponding module for execution.
7. The VR technology based control system of an electric working robot of claim 1, wherein: when the motion control module receives a motion command and a track table, the inverse kinematics equation and the Jacobian determinant are solved through the robot, the angular rotation degree and the corresponding angular speed of each joint are calculated, the information of the angular rotation angle and the angular speed of each joint is sent to a mechanical arm driving program, and the information is updated in a robot database.
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| CN202110396339.8A CN112975988A (en) | 2021-04-13 | 2021-04-13 | Live working robot control system based on VR technique |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114547781A (en) * | 2022-03-04 | 2022-05-27 | 无锡豪丽坤自控设备有限公司 | Method and system for evaluating performance of marine mast based on virtual reality |
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Patent Citations (6)
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| CN103481285A (en) * | 2013-09-16 | 2014-01-01 | 国家电网公司 | High-voltage electric operating robot control system and method based on virtual reality technology |
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Application publication date: 20210618 |